diff --git a/Gambal/APP/usart1.c b/Gambal/APP/usart1.c
index fbc85ab..eac2a23 100644
--- a/Gambal/APP/usart1.c
+++ b/Gambal/APP/usart1.c
@@ -2,7 +2,7 @@
 //#include "math.h"
 #include <stdlib.h>
 #include <string.h>
-u8 USART_RX_BUF[20];
+u8 USART_RX_BUF[30];
 //接收到的数据长度		  
 unsigned short USART_RX_STA=0;       //接收状态标志 
 
@@ -41,8 +41,8 @@ unsigned short USART_RX_STA=0;       //
 
 u32 RX_CNT = 0;
 u8 f;
-u8 x[10];
-u8 y[10];
+u8 x[12];
+u8 y[12];
 void USART1_IRQHandler(void)
 {
 	unsigned char res;
@@ -61,8 +61,8 @@ void USART1_IRQHandler(void)
 		else
 		{
 			memcpy(x,USART_RX_BUF,f+1);
-			memcpy(y,USART_RX_BUF+f+1,20-f-1);
-			memset(USART_RX_BUF,0,20);
+			memcpy(y,USART_RX_BUF+f+1,30-f-1);
+			memset(USART_RX_BUF,0,30);
 			RX_CNT = 0;
 		}
 	}
diff --git a/Gambal/APP/usart1.h b/Gambal/APP/usart1.h
index a374da5..a07ab19 100644
--- a/Gambal/APP/usart1.h
+++ b/Gambal/APP/usart1.h
@@ -9,11 +9,11 @@
 
 
 extern float error;
-extern u8 USART_RX_BUF[20];
+extern u8 USART_RX_BUF[30];
 //接收到的数据长度		  
 extern unsigned short USART_RX_STA;       //接收状态标志  
-extern u8 x[10];
-extern u8 y[10];
+extern u8 x[12];
+extern u8 y[12];
 
 void usart1_Init(u32 bound);
 
diff --git a/Gambal/User/main.c b/Gambal/User/main.c
index a31a2ce..e48a661 100644
--- a/Gambal/User/main.c
+++ b/Gambal/User/main.c
@@ -163,7 +163,7 @@ void PID_init(void)
 //	pid_ang_timestamp=SysTick->VAL;
 	
 //	////////yyyyyyyyyyyy
-	pid_vel_P=1.5;  //0.1
+	pid_vel_P=0.8;  //0.1
 	pid_vel_I=0.1;    //2
 	output_vel_ramp=100;       
 	integral_vel_prev=0;
@@ -172,30 +172,10 @@ void PID_init(void)
 	pid_vel_timestamp=SysTick->VAL;
 	
 	pid_ang_P = 10;
-	pid_ang_D =0.5;
+	pid_ang_D =5;
 	error_ang_prev= 0;
 	pid_ang_timestamp=SysTick->VAL;
-	
 }
-//void commander_run(void)
-//{
-//		if((USART_RX_STA&0x8000)!=0)
-//		{
-//			switch(USART_RX_BUF[0])
-//			{
-
-//				case 'y':   //D
-//				target = 0 - atof((const char *)(USART_RX_BUF+1));
-//					break;						
-//				case 'x':   
-//					target =atof((const char *)(USART_RX_BUF+1));
-//					break;
-//				
-//			}
-
-//			USART_RX_STA=0;
-//		}
-//}
 
 /******************************************************************************/
 float shaftAngle(void)
@@ -231,22 +211,6 @@ float LPF_velocity(float x)
 	return y;
 }
 /******************************************************************************/
-//void PID_init(void)
-//{
-//	pid_vel_P=0.2;  //0.1
-//	pid_vel_I=2.0;    //2
-//	output_vel_ramp=100;       
-//	integral_vel_prev=0;
-//	error_vel_prev=0;
-//	output_vel_prev=0;
-//	pid_vel_timestamp=SysTick->VAL;
-//	
-//	pid_ang_P=20;
-//	pid_ang_D=0.5;
-//	error_ang_prev=0;
-//	pid_ang_timestamp=SysTick->VAL;
-//}
-/******************************************************************************/
 float PID_velocity(float error)
 {
 	unsigned long now_us;
diff --git a/MPU6050/User/main.c b/MPU6050/User/main.c
index 1d9ff84..6abdee0 100644
--- a/MPU6050/User/main.c
+++ b/MPU6050/User/main.c
@@ -39,7 +39,7 @@ int main(void)
 			GetAngle(&MPU6050,&Angle,0.003f);
 			float x = Angle.pitch / 180.f * _PI;
 			float y = Angle.roll / 180.f * _PI;
-			printf("%.3fy%.3f\r\n",x,y);
+			printf("%fy%f\r\n",x,y);
 ////			printf("y%.3f\r\n",Angle.roll / 180.f * _PI);
 //			printf("A%dA",i);
 		}